Hold 'v' and MMB click (drag slightly) on the vertex you want to snap to. That's a more precise way of positioning your pivot point, if that's what you're asking.
Sorry, I misunderstood. Looking at the image, it's the joint itself that should be directly in the center the circle. The joint drives the rotation of the geo, so I don't think it matters where the pivot point is. Maybe I'm still not understanding right.
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